CN108287018B - Marine environment noise measuring device based on wave glider - Google Patents

Marine environment noise measuring device based on wave glider Download PDF

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Publication number
CN108287018B
CN108287018B CN201810071039.0A CN201810071039A CN108287018B CN 108287018 B CN108287018 B CN 108287018B CN 201810071039 A CN201810071039 A CN 201810071039A CN 108287018 B CN108287018 B CN 108287018B
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wave
measurement
wave glider
zigbee module
environmental noise
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CN108287018A (en
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刘颉
李国富
李琦
张爽
张晓娟
贾廷政
吕九红
杨逍
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National Ocean Technology Center
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National Ocean Technology Center
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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01HMEASUREMENT OF MECHANICAL VIBRATIONS OR ULTRASONIC, SONIC OR INFRASONIC WAVES
    • G01H17/00Measuring mechanical vibrations or ultrasonic, sonic or infrasonic waves, not provided for in the preceding groups
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01DMEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D21/00Measuring or testing not otherwise provided for
    • G01D21/02Measuring two or more variables by means not covered by a single other subclass

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Abstract

The invention discloses a wave glider-based marine environment noise measuring device, which is used for carrying a marine environment parameter and noise measuring device by taking the wave glider as a measuring platform to realize fixed-point measurement and sailing measurement. The acquisition control system is arranged on the wave glider and comprises an embedded controller, a navigation device, a positioning device, a satellite communication device, a direction adjusting device, a storage card, a synchronous interface, a measuring sensor, a power management circuit, a solar power generation system and a ZigBee module. The marine environmental noise measuring device can measure marine environmental parameters such as wind speed, wind direction, wave height, wave direction, rainfall, flow velocity and flow direction synchronously while measuring the marine environmental noise, and obtains information of passing ships through the AIS, so that a foundation is laid for analyzing the influence of wind, wave, flow, rainfall and ship noise on marine acoustic signal measurement, the formation mechanism and the acoustic intensity fluctuation rule of the marine environmental noise can be deeply researched, and a reliable basis is provided for improving the stability of underwater acoustic communication and the detection and identification capability of underwater acoustic detection equipment.

Description

Marine environment noise measuring device based on wave glider
Technical Field
The invention relates to an ocean noise signal measuring device, in particular to an ocean noise signal measuring device based on a wave glider.
Background
The marine environmental noise is a background interference field in an underwater acoustic channel, and the research on the marine environmental noise has very important significance in civil use and military use. On one hand, the artificial or naturally generated noise as the inherent background sound field of the underwater acoustic channel can directly influence the performance of various sonar equipment; on the other hand, the marine environmental noise contains a large amount of hydrological, geological and marine biological information, and parameters related to the sea, such as sea surface wind speed, rainfall, sea waves, sea bottom reflection critical angle, sea bottom sound velocity and the like, can be estimated by collecting and analyzing the marine environmental noise, so that conditions are provided for further researching marine weather, ecological environment and resource distribution.
The noise sources in the ocean are many, and the noise sources in different frequency bands and different sea areas are different greatly. In general, 20Hz-1kHz frequency band, a distant ship is the main cause of noise; in the frequency range of 500Hz-20kHz, the main source of noise is sea surface air seal noise near a measuring point; above 100kHz, the thermal noise generated by the movement of sea water molecules is mainly generated. The frequency bands of these noise sources often overlap and are not strictly segmented, for example, in the low frequency band of several hundred hertz to 1kHz, the ship and sea surface weathervaning noise is the main noise source in this frequency band. In addition, intermittent sound sources and local noise sources, such as biological noise, rain noise, under-ice noise, hail noise, etc., are included, and their frequency spectra are generally broadband. Low frequency noise of several tens of hertz or less is caused by seismic turbulence or the like.
The sources of noise in marine environments are various and are closely related to environmental conditions. The marine environmental noise is the comprehensive effect of the noise sources, and the different sound production mechanisms of various noise sources cause the marine environmental noise to have different characteristics in different frequency bands. The investigation and deep analysis research on the characteristics of the time domain, the frequency domain and the space domain of the marine environmental noise cannot be separated from the synchronous measurement of the marine environmental noise and the marine environmental conditions.
However, many conventional means mainly measure the noise level of the marine environment, and the currently used hydrophone arrays generally do not have the synchronous measurement function of wind, wave, ocean current and rainfall, and cannot realize the holographic measurement of the noise level of the marine environment, so that the fluctuation rule of the noise level of the marine environment cannot be quantitatively described.
The existing underwater sound signal acquisition array system commonly used for underwater sound investigation is composed of a hydrophone array and acquisition and recording terminal equipment, and mainly acquires underwater sound signals such as marine environmental noise. The acquisition and recording terminal equipment supplies power to the hydrophone through a cable and completes digital acquisition and record storage of the underwater sound analog signals received by the hydrophone. The specific working mode is as follows: the acquisition and recording terminal equipment is arranged in a ship deck or a buoy (submerged buoy) cabin, the hydrophone array is arranged in a water body and is connected with the ship deck or the buoy (submerged buoy) cabin through a cable, and the acquired underwater sound analog signals are transmitted to the terminal acquisition equipment through the cable by the hydrophones in the array, so that the digital acquisition and recording storage of the underwater sound signals are realized.
Moreover, the existing hydrophone array also has some problems and disadvantages in the using process, mainly including: when the hydrophone array is used on a ship, the ship is required to be matched, the cost of manpower and material resources is high, and the noise of the ship has certain influence on the noise measurement; when the hydrophone array is used on the buoy, the position of the hydrophone array cannot be controlled, and during measurement, the hydrophone array floats along with ocean current and is far away from the distribution position, so that the noise measurement result is influenced.
In recent years, marine mobile observation platforms are widely used, and many new technologies and new products emerge. An autonomous navigation observation platform (hereinafter referred to as a wave glider) based on wave energy propulsion is born and developed rapidly from 2005 to date. The wave glider is a novel marine environment monitoring platform, and it utilizes wave fluctuation direct conversion to advance forward, adopts solar energy as the system energy, through carrying on various types of scientific sensor, accomplishes long-time global ocean cruise investigation operation. The wave glider opens up a brand-new way for human observation and understanding of world oceans, realizes large-scale and long-time oceanographic survey, saves a large amount of manpower, material resources and financial resources compared with the traditional survey mode, and can realize the survey of severe environment and sensitive areas.
The wave glider development trend develops towards the direction of practicality and comprehensive technology systematization, and the functions are increasingly perfect. The measurement mode based on the wave glider has the advantages of low cost, convenience in laying and recycling, combination of fixed-point Euler observation and Lagrange current-following observation, in-situ observation, real-time transmission and the like. These advantages are well suited for marine environmental noise observation and research. The wave glider is used for carrying out synchronous measurement on the marine environmental noise and the environmental information, and a reliable observation means can be provided for deeply researching the formation mechanism and the sound intensity fluctuation rule of the marine environmental noise.
Disclosure of Invention
Aiming at the problems of the existing marine environmental noise measurement, the invention provides a marine environmental noise measurement device with a novel structure, which utilizes a wave glider as a measurement platform to carry a marine environmental parameter and noise measurement device to realize fixed-point measurement and navigation measurement; the marine environmental noise measuring device can measure marine environmental parameters such as wind speed, wind direction, wave height, wave direction, rainfall, flow velocity and flow direction synchronously while measuring the marine environmental noise, and obtains information of passing ships through the AIS, so that a foundation is laid for analyzing the influence of wind, wave, flow, rainfall and ship noise on marine acoustic signal measurement, the formation mechanism and the acoustic intensity fluctuation rule of the marine environmental noise can be deeply researched, and a reliable basis is provided for improving the stability of underwater acoustic communication and the detection and identification capability of underwater acoustic detection equipment.
The invention relates to a wave glider-based marine environment noise measuring device which comprises a wave glider and an acquisition control system, wherein the acquisition control system is arranged on the wave glider.
The wave glider consists of a boat-shaped floating body and an underwater gliding device, wherein the boat-shaped floating body and the underwater gliding device are connected through an umbilical cable. The boat-shaped floating body is divided into a front cabin, a middle cabin and a rear cabin, the front cabin, the middle cabin and the rear cabin are respectively and independently sealed, and connecting lines of the front cabin, the middle cabin and the rear cabin are connected through watertight connectors.
The acquisition control system comprises an embedded controller, a navigation device, a positioning device, a satellite communication device, a direction adjusting device, a storage card, a synchronous interface, a measurement sensor, a power management circuit, a solar power generation system and a ZigBee module. The embedded controller is connected with the navigation device, the positioning device, the satellite communication device and the ZigBee module through a serial interface, is connected with the power management circuit through an input/output interface (I/O interface), realizes power management through the power management device, can control the power-on and power-off of the navigation device, the positioning device, the satellite communication device, the direction adjusting device, the storage card and the measuring sensor, and realizes energy-saving control.
The navigation device adopts an electronic compass to obtain the current position of the wave glider.
The positioning device adopts a GPS positioning device to acquire the current position information of the wave glider. The iridium antenna and the GPS antenna are arranged on the upper surface of the front cabin.
The satellite communication device uses a satellite terminal, the acquisition control system has two communication modes of satellite communication and wireless communication, and the wireless communication mode adopts a ZigBee module to realize data communication. Because the frequency of satellite communication is limited and the power consumption is large, a navigation track and working parameters are set in a wireless communication mode before the wave glider is laid, the measured data is played back after the wave glider is recovered, and the satellite communication is used for transmitting the data during the wave glider sailing process;
the steering device uses a steering engine, and the steering engine is arranged at the tail part of the underwater gliding device of the wave glider. The running direction of the wave glider is adjusted by adjusting the angle of the steering engine.
The memory card is used for storing setting information, state information in the navigation process and measurement data.
The solar power generation system is composed of two groups of solar power generation devices, the front cabin surface and the rear cabin surface are respectively provided with one group of solar power generation devices to supply power for the system, each solar power generation device is composed of a solar cell panel, a high-power polymer lithium energy battery and a controller, and the high-power polymer lithium energy battery is flat and is arranged below the solar cell panel, so that the space in the cabin can be saved.
The measurement sensors include meteorological sensors, wave sensors, rain gauges, ADCP, AIS, and NTD arrays.
Wherein: ADCP (Acoustic Doppler Current profilers) is an acoustic Doppler flow profiler; an Automatic Identification System (AIS) is an automatic ship identification system and can identify the information of passing ships; NTD is the single channel marine sound signal measuring apparatu that possesses temperature pressure measurement function.
The ZigBee module is a wireless communication module, the ZigBee module is connected with the embedded controller through a serial interface, and the ZigBee module is respectively connected with the wave sensor, the rain gauge, the AIS, the ADCP and the meteorological sensor, the embedded controller adopts a ZigBee-based wireless communication network to complete data communication with the wave sensor, the rain gauge, the AIS, the ADCP and the meteorological sensor, wherein the ZigBee antenna of the ZigBee module connected with the embedded controller through the serial interface is arranged on the upper surface of the middle cabin, the position of the ZigBee antenna is higher, the communication distance is far, the remote communication with the shore-based monitoring system is convenient, and the other antennas of the ZigBee module connected and combined with the wave sensor, the rain gauge, the AIS, the ADCP and the meteorological sensor are all built-in.
The ZigBee antenna, the rain gauge, the meteorological sensor and the AIS are installed on the upper surface of the middle cabin of the boat-shaped floating body of the wave glider.
The ADCP is installed on the lower surface of the rear cabin of the boat-shaped floating body of the wave glider.
The NTD array is fixed on a cable led out from the rear part of the boat-shaped floating body of the wave glider, and the cable penetrates out from the inside of a supporting rod additionally arranged on the rear part of the boat-shaped floating body. The tail end of the cable is provided with a fish lead to keep the cable in a vertical state. And on the occasion that the requirement on the noise measurement synchronism is very high, the synchronous interface is used, so that the NTD array of the measuring device starts to measure simultaneously.
The embedded controller exchanges data with the meteorological sensor, the wave sensor, the rain gauge, the ADCP and the AIS through a wireless communication network based on a ZigBee module, regularly collects and stores sensor data of the measuring device according to a set working mode, and can send characteristic data measured by the sensor to a shore-based monitoring system through the satellite communication device.
The embedded controller obtains the position where the wave glider needs to go from a shore-based monitoring system, designs a combined navigation system based on an electronic compass and a GPS, and realizes navigation of the platform by adopting a sight tracking or path tracking algorithm. The embedded controller obtains the position of the wave glider from the positioning device at regular time, obtains the distance and the course of reaching a target point through calculation, obtains the orientation of the wave glider from the navigation device, and adjusts the direction of the observation platform through the direction adjusting device when course deviation exists. In the fixed-point working mode, the wave glider works in a virtual anchoring mode and runs around a set point; when the sailing mode is used for measurement, the wave glider runs along a set route by adopting a path tracking mode to work.
Because the NTD sampling rate is higher, the sampling rate can reach 50k per second, if the 24-bit AD is adopted, the data collected in 1 second has 150k, and the data volume is larger, the NTD adopts a self-contained working mode, the working mode is set before each laying, and the NTD works according to the set working mode. In the occasion with higher requirement on synchronism, the NTD array waits for a synchronous signal and starts synchronous acquisition after receiving the synchronous signal sent by the embedded controller through the synchronous interface; when the synchronous signal is not needed, the NTD is started according to the internal clock timing, and the measurement is started according to the set working mode. Because the acoustic signal that NTD gathered is very little, in order to avoid mutual interference between the NTD, the NTD adopts the battery power supply of self carrying, also can be supplied power by marine environmental noise measuring device's solar energy power generation system under the special circumstances. The installation position and the number of the NTDs in the NTD array can be adjusted according to the needs.
Along with the continuous maturity of wave glider technique, the application is more and more extensive, and the sensor type of carrying according to the mission can constantly increase, for the convenience sensor extension and change, based on open, facing task, modularization design thought, research based on zigBee's wireless communication network's sensor acquisition system and control node communication protocol. According to the overall configuration requirement, a small-sized, low-power-consumption and high-precision sensor is selected, a low-power-consumption data acquisition system is developed, and a data acquisition method suitable for a platform motion mode is researched to adapt to the complex marine environment data observation requirement.
According to the object-oriented modular design idea, a distributed platform acquisition system of a ZigBee-based wireless communication network is developed by adopting a master-slave system structure, so that data acquisition of the sensor is realized. According to the technical characteristics of the wave glider system, in order to reduce the complexity of the system and simplify the operations of design, debugging, maintenance and the like, the design of the system adheres to the principle of modularization, the independence of the functions of each module is kept, and the stable operation of the system is ensured when the module is added or withdrawn.
The invention relates to a sea environment noise measuring device based on a wave glider, which is in contact with and exchanges data with a shore-based monitoring system through satellite communication and a ZigBee-based wireless communication mode.
Before each measurement task is started, the shore-based monitoring system firstly sets working parameters of the marine environmental noise measurement device, and the working parameters mainly comprise a working mode (fixed-point measurement or navigation measurement), a navigation track (longitude and latitude required to pass through a coordinate point), a measurement mode of a sensor (a measurement interval and time of each measurement), measurement starting time, measurement ending time and the like. Meanwhile, the shore-based monitoring system also needs to set working parameters of the NTD array, which mainly comprise measuring starting time, measuring ending time, measuring interval and measuring time of each time.
The working modes of the marine environmental noise measuring device comprise a fixed-point measuring working mode and an air navigation measuring working mode. The fixed-point measurement working mode is that the marine environmental noise measuring device sails around a set point, and the measurement work is completed according to the set working mode while the marine environmental noise measuring device walks around. The working mode of the navigation measurement is that the marine environmental noise measuring device navigates on a set air route, and the measurement is completed according to the set working mode while navigating.
When the marine environmental noise measuring device is in a fixed-point measuring working mode, the marine environmental noise measuring device can be arranged at a measuring position by a ship or automatically sails to a specified measuring position and then sails around the measuring position. And after the measurement starting time is reached, the measurement is started according to a set working mode, the meteorological sensor, the wave sensor, the rain gauge, the ADCP, the AIS and the NTD array are synchronously measured according to the set working mode, and after the measurement ending time is reached, the measurement task is ended.
When the marine environmental noise measuring device is in a working mode of navigation measurement, the marine environmental noise measuring device navigates on a set air route and simultaneously performs measurement according to the set working mode, the meteorological sensor, the wave sensor, the rain gauge, the ADCP, the AIS and the NTD array synchronously measure according to the set working mode, and the marine environmental noise measuring device finishes the measurement task after completing the set air route.
After the marine environmental noise measuring device is recovered, the shore-based monitoring system plays back the measured data of the meteorological sensor, the wave sensor, the rain gauge, the ADCP, the AIS and the NTD array, and then submits the measured data to relevant departments for further analysis and processing.
Drawings
FIG. 1 is a schematic diagram of the basic structure of a marine environmental noise measuring device according to the present invention;
fig. 2 is a circuit block diagram of a preferred embodiment of the present invention.
The notation in the figure is:
1. embedded controller 2, iridium terminal + GPS
3. Electronic compass 4 and ZigBee module
5. Memory card 6 and steering engine
7. Synchronous interface 8, NTD array
9. Wave sensor + ZigBee module 10, rain gauge + ZigBee module
11. AIS + ZigBee module 12 and ADCP + ZigBee module
13. Meteorological sensor + ZigBee module 14 and power management circuit
15. Solar power generation system 16, iridium antenna and GPS antenna
17. Shore-based monitoring system 18 and ZigBee antenna
19. AIS 20 and solar cell panel
21. Boat-shaped floating body 22 and front cabin
23. Middle cabin 24 and rear cabin
25. Umbilical 26, ADCP
27. Underwater sliding device 28 and supporting rod
29. Cable 30, fish lead
Detailed Description
The technical scheme of the invention is further described by combining the attached drawings.
Fig. 1 is a schematic diagram of the basic structure of the present invention. As shown in figure 1, the marine environment noise measuring device based on the wave glider comprises the wave glider and an acquisition control system, wherein the acquisition control system is arranged on the wave glider.
The wave glider consists of a boat-shaped floating body and an underwater gliding device, wherein the boat-shaped floating body and the underwater gliding device are connected through an umbilical cable. The boat-shaped floating body is divided into a front cabin, a middle cabin and a rear cabin, the front cabin, the middle cabin and the rear cabin are respectively and independently sealed, and connecting lines of the front cabin, the middle cabin and the rear cabin are connected through watertight connectors.
The acquisition control system comprises an embedded controller, a navigation device, a positioning device, a satellite communication device, a direction adjusting device, a storage card, a synchronous interface, a measurement sensor, a power management circuit, a solar power generation system and a ZigBee module. The embedded controller is connected with the navigation device, the positioning device, the satellite communication device and the ZigBee module through serial interfaces and is connected with a power supply management circuit through an input/output interface (I/O port), the wave glider consists of a boat-shaped floating body and an underwater gliding device, the boat-shaped floating body is connected with the underwater gliding device through an umbilical cable, the boat-shaped floating body is divided into a front cabin, a middle cabin and a rear cabin, the front cabin, the middle cabin and the rear cabin are respectively and independently sealed, and connecting lines of the front cabin, the middle cabin and the rear cabin are connected through watertight connectors.
The shore-based monitoring system interacts data with the marine environment noise measuring device in a satellite communication mode and a ZigBee-based wireless communication mode. Because the frequency of satellite communication is limited and the power consumption is large, before the wave glider is laid, a navigation track and working parameters are set in a ZigBee-based wireless communication mode, and after the wave glider is recovered, measurement data are played back in a ZigBee-based wireless communication mode; in the sailing process of the wave glider, satellite communication is used for transmitting data, the marine environment noise measuring device transmits characteristic data and running state information measured by the sensor back in a satellite communication mode, and the shore-based monitoring system can also remotely change running tracks or working parameters in a satellite communication mode.
The solar power generation system comprises two groups of solar power generation devices, wherein the front cabin surface and the rear cabin surface are respectively provided with one group of solar power generation devices to supply power for the system, each solar power generation device comprises a solar cell panel, a high-power polymer lithium energy cell and a controller, and the high-power polymer lithium energy cell is flat and is arranged below the solar cell panel, so that the space in the cabin can be saved.
The iridium antenna and the GPS antenna are arranged on the upper surface of the front cabin of the boat-shaped floating body of the wave glider.
The ZigBee module is a wireless communication module, the ZigBee module is connected with the embedded controller through a serial interface, and the ZigBee module is respectively connected with the wave sensor, the rain gauge, the AIS, the ADCP and the meteorological sensor, the embedded controller adopts a ZigBee-based wireless communication network to complete data communication with the wave sensor, the rain gauge, the AIS, the ADCP and the meteorological sensor, wherein the ZigBee antenna of the ZigBee module connected with the embedded controller through the serial interface is arranged on the upper surface of the middle cabin, the position of the ZigBee antenna is higher, the communication distance is far, the remote communication with the shore-based monitoring system is convenient, and the other antennas of the ZigBee module connected and combined with the wave sensor, the rain gauge, the AIS, the ADCP and the meteorological sensor are all built-in.
The ZigBee antenna, the rain gauge, the meteorological sensor and the AIS are installed on the upper surface of the middle cabin of the boat-shaped floating body of the wave glider.
The ADCP is installed on the lower surface of the rear cabin of the boat-shaped floating body of the wave glider.
The NTD array is fixed on a cable led out from the rear part of the boat-shaped floating body of the wave glider, and the cable penetrates out from the inside of a supporting rod additionally arranged on the rear part of the boat-shaped floating body. The tail end of the cable is provided with a fish lead to keep the cable in a vertical state.
The steering engine is installed at the tail part of the underwater gliding device of the wave glider.
Fig. 2 is a circuit block diagram of a preferred embodiment of the present invention, and as shown in fig. 2, the circuit connection unit of the marine environmental noise measurement device includes an embedded controller, an iridium satellite terminal + GPS, an electronic compass, a ZigBee module, a memory card, a steering engine, a synchronization interface, an NTD array, a wave sensor + ZigBee module, a rain gauge + ZigBee module, an AIS + ZigBee module, an ADCP + ZigBee module, a weather sensor + ZigBee module, a power management circuit, and a solar power generation system.
The embedded controller adopts an ARM chip LPC1768 as the embedded controller. The LPC1768 is a member of the LPC17XX family of microcontrollers based on the ARM Cortex-M3 kernel, introduced by the NXP company. The LPC17XX series Cortex-M3 microprocessor is used to handle embedded applications that require high integration and low power consumption. The operating frequency of the LPC1700 series microcontroller can reach 100 MHz. The ARM Cortex-M3CPU has a 3-stage pipeline and a Harvard architecture. The peripheral components of the LPC17XX family of microcontrollers include flash memory up to 512KB, data memory 64KB, Ethernet MAC, USB master/slave/OTG interface, 8-channel DMA controller, 4 UARTs, 2 CAN channels, 2 SSP controllers, SPI interface, 3I 2C interfaces, IIS interface with 2 inputs and 2 outputs, 12-bit ADC with 8 channels, 10-bit DAC, motor control PWM, quadrature encoder interface, 4 universal timers, universal PWM with 6 outputs, ultra-low power consumption RTC with independent battery power, and up to 70 universal IO pins.
The LPC1768 as an embedded controller does not need an external expansion program memory, a data memory and an IO interface, a single chip can meet the system requirement, a peripheral circuit is not needed, the reliability is effectively improved, and the power consumption is reduced.
The iridium terminal and the GPS are integrated into 1 module and connected with a serial port 1 of the embedded controller, the marine environmental noise measuring device completes data communication with the shore-based monitoring system through the iridium terminal, and the marine environmental noise measuring device obtains current position information through the GPS.
And a serial port 2 of the embedded controller is connected with the electronic compass to complete data acquisition and obtain current azimuth information.
The serial port 3 of the embedded controller is connected with the ZigBee module to complete the data acquisition work of the wave sensor, the rain gauge, the AIS, the ADCP and the meteorological sensor; the system can also complete the functions of marine environmental noise measurement and shore-based data communication, and realize the functions of parameter setting, observation data unloading and the like of marine environmental noise measurement.
The memory card adopts a microSDXCTM UHS-1 memory card with the storage capacity of 256GB (bytes), the reading speed of 95 MB/s and the writing speed of 90 MB/s.
The embedded controller is connected with the memory card through an SSP interface, so that the data can be read quickly. The memory card is used for storing setting information, state information in the navigation process and measurement data.
The embedded controller is connected with the steering engine through an IO pin, and the embedded controller adjusts the running direction of the wave glider by adjusting the angle of the steering engine.
The solar power generation system supplies power for the measurement of the marine environmental noise through the power management circuit; the embedded controller is connected with the power management circuit through an IO pin, controls the iridium terminal + GPS, the electronic compass, the ZigBee module, the storage card, the steering engine, the NTD array, the wave sensor + ZigBee module, the rain gauge + ZigBee module, the AIS + ZigBee module, the ADCP + ZigBee module, the meteorological sensor + ZigBee module to power up and down, power is supplied as required, power consumption is reduced, wherein the NTD array can be supplied with power through the marine environmental noise measuring device, power can also be supplied through a self-carried battery, and different power supply modes can be selected according to measurement requirements.
The embedded controller realizes synchronous data acquisition of the NTD array through a synchronous interface.
The embedded controller is connected with the synchronous interface through an IO pin and serves as a synchronous signal of the NTD array in the situation with higher requirement on synchronism, and the NTD array starts synchronous measurement after receiving the synchronous signal.
The wave sensor, the rain gauge, the AIS, the ADCP and the meteorological sensor are all provided with ZigBee modules, and realize data communication with the embedded controller through the ZigBee modules, so that the data acquisition of the measuring sensor is completed.

Claims (7)

1. The utility model provides a marine environment noise measuring device based on wave glider which characterized in that: the wave glider comprises a wave glider and an acquisition control system, wherein the acquisition control system is arranged on the wave glider;
the wave glider is directly converted into forward propulsion by utilizing wave fluctuation, and solar energy is used as a system power supply;
the wave glider is used as a measuring platform and carries a marine environment parameter and noise measuring device to realize fixed-point measurement and navigation measurement; the method can measure the wind speed, wind direction, wave height, wave direction, rainfall, flow speed and flow direction synchronously while measuring the noise of the marine environment, and obtains the information of passing ships through the AIS;
the wave glider consists of a boat-shaped floating body and an underwater sliding device, wherein the boat-shaped floating body and the underwater sliding device are connected through an umbilical cable; the boat-shaped floating body is divided into a front cabin, a middle cabin and a rear cabin, the front cabin, the middle cabin and the rear cabin are respectively and independently sealed, and connecting lines of the front cabin, the middle cabin and the rear cabin are connected through watertight connectors;
the acquisition control system comprises an embedded controller, a navigation device, a positioning device, a satellite communication device, a direction adjusting device, a storage card, a synchronous interface, a measurement sensor, a power management circuit, a solar power generation system and a ZigBee module; the embedded controller is connected with the navigation device, the positioning device, the satellite communication device and the ZigBee module through a serial interface, is connected with the power management circuit through an input/output interface, and realizes power management through the power management circuit;
the working modes of the acquisition control system comprise a fixed-point measurement working mode and a sailing measurement working mode, when in fixed-point measurement, the marine environmental noise measuring device is placed at a measurement position by a ship or automatically sails to a specified measurement position and then sails around the measurement position, the meteorological sensor, the wave sensor, the rain gauge, the ADCP, the AIS and the NTD array synchronously measure according to the set working mode, the measurement task is finished after the measurement time is up, when in sailing measurement, the marine environmental noise measuring device sails on a set air route and simultaneously carries out measurement according to the set working mode, the meteorological sensor, the wave sensor, the rain gauge, the ADCP, the AIS and the NTD array synchronously measure according to the set working mode, and when in measuring the marine environmental noise, the wind speed, the wind direction, the wave height, the wave direction, the rainfall, the flow rate and the flow speed can be synchronously measured, The marine environmental noise measuring device finishes the measuring task after completing the set air route;
the navigation device adopts an electronic compass to obtain the current position of the wave glider;
the positioning device adopts a GPS positioning device to obtain the current position information of the wave glider;
the satellite communication device uses a satellite terminal, the acquisition control system has two communication modes of satellite communication and wireless communication, and the wireless communication mode adopts a ZigBee module to realize data communication;
the direction adjusting device uses a steering engine, and adjusts the running direction of the wave glider by adjusting the angle of the steering engine;
the solar power generation system consists of two groups of solar power generation devices and supplies power to the system; the solar power generation device consists of a solar panel, a high-power polymer lithium energy battery and a controller;
the measuring sensors comprise meteorological sensors, wave sensors, rain gauges, ADCP, AIS and NTD arrays;
the installation position and the number of the NTDs in the NTD array can be adjusted according to the requirement;
the acquisition control system adopts a distributed platform acquisition system based on a ZigBee wireless communication network, maintains the independence of the functions of each module, and ensures the stable operation of the system when a module is added or withdrawn;
the ZigBee module is a wireless communication module, and not only has a ZigBee module connected with the embedded controller through a serial interface, but also has a ZigBee module respectively connected and combined with the wave sensor, the rain gauge, the AIS, the ADCP and the meteorological sensor;
the embedded controller exchanges data with the meteorological sensor, the wave sensor, the rain gauge, the ADCP and the AIS through a wireless communication network based on a ZigBee module, regularly collects and stores sensor data of the measuring device according to a set working mode, and can send characteristic data measured by the sensor to a shore-based monitoring system through the satellite communication device;
the power management circuit controls the iridium terminal + GPS, the electronic compass, the ZigBee module, the storage card, the steering engine, the NTD array, the wave sensor + ZigBee module, the rain gauge + ZigBee module, the AIS + ZigBee module, the ADCP + ZigBee module, the meteorological sensor + ZigBee module to power on or off as required, the power consumption is reduced, the NTD array is powered by the marine environmental noise measuring device or is powered by a self-carried battery, and different power supply modes are selected according to measurement requirements.
2. The wave glider-based marine environmental noise measurement device of claim 1, wherein: the ZigBee antenna, the rain gauge, the meteorological sensor and the AIS are installed on the upper surface of the middle cabin of the boat-shaped floating body of the wave glider.
3. The wave glider-based marine environmental noise measurement device of claim 1, wherein: the ADCP is arranged on the lower surface of the rear cabin of the boat-shaped floating body of the wave glider.
4. The wave glider-based marine environmental noise measurement device of claim 1, wherein: the NTD array is fixed on a cable led out from the rear part of the boat-shaped floating body of the wave glider, and the cable penetrates out from the inside of a supporting rod additionally arranged at the rear part of the boat-shaped floating body; the tail end of the cable is provided with a fish lead to keep the cable in a vertical state.
5. The wave glider-based marine environmental noise measurement device of claim 1, wherein: the two groups of solar power generation devices forming the solar power generation system are respectively arranged on the surface of the front cabin and the surface of the rear cabin of the boat-shaped floating body of the wave glider; the high-power polymer lithium energy battery of the solar power generation device is flat and is arranged below the solar panel.
6. The wave glider-based marine environmental noise measurement device of claim 1, wherein: the steering engine is installed at the tail part of the underwater gliding device of the wave glider.
7. The wave glider-based marine environmental noise measurement device according to claim 1, wherein the embedded controller realizes synchronous data acquisition of the NTD array through a synchronous interface.
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